I can confirm this bug for my setup under Kubuntu 9.10:
> lspci | grep Ath
    02:02.0 Ethernet controller: Atheros Communications Inc. AR5212 802.11abg 
NIC (rev 01)
> lsmod | grep ath
    ath5k                 107008  0 
> cat /proc/version
    Linux version 2.6.28-11-generic (bui...@palmer) (gcc version 4.3.3 (Ubuntu 
4.3.3-5ubuntu4) ) #42-Ubuntu SMP Fri Apr 17 01:57:59 UTC 2009

My current workaround is to use wicd instead of network-manager (apt-get
install wicd) which works flawlessly without any periodic
delays/hangups. There is a button called "refresh" which leaves the
decision of when to rescan up to you. No patching/compilation required.

-- 
network-manager roams to (none) ((none))  
https://bugs.launchpad.net/bugs/291760
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